Snake Robot Control System Based On STM32 Research And Implementation

Snake robot is a typical bionic robot,with various motion modes,compact structure and high flexibility.It has unique application advantages in many scenarios such as post-disaster rescue,detection and maintenance,military medical treatment and so on.According to the control requirements of the project,combined with the actual situation of the snake robot prototype,this thesis studies the gait planning method of the snake robot with the characteristics of multi-motion gait and wireless control,then designs and implements the control system of the snake robot,Finally,experiments are carried out to verify the feasibility of the designed control system.The specific research content is as follows:Firstly,this thesis analyzes the joint module and motion control principle of the snake robot prototype.According to the actual needs of the project,combined with the steering gear in the joint module,the overall design scheme of the snake robot control system is determined with wireless control as the main goal.Then the kinematic model of the snake robot is established,and the gaits of the snake robot are designed and studied based on the method of motion control function and curve segment splicing.At the same time,aiming at the limitations of a single motion gait in a complex environment,based on the crawler gait,the curve splicing method is used to study the conversion of some gaits,and the designed gait is simulated and verified by MATLAB and Coppelia Sim software,which provides a theoretical basis for the software implementation of the control algorithm.Then,according to the overall design scheme of the control system of the snake robot,the hardware circuit,the underlying software system and the upper computer of the control system are designed with the idea of modularization.In the part of hardware circuit design,the selection of key components is completed,STM32F407ZET6 is used as the main control chip of the control system,and the control circuit of the steering gear and the communication circuit of the upper and lower gear function module circuit is discussed in detail.In the bottom software system design part,according to the control logic of this topic snake robot,complete the system master module,control algorithm module,steering gear control module and wireless communication module of the program design.At the same time,in order to reduce the control and communication constraints of PC,Java language is used to design the upper computer on the mobile platform based on the Android system,and the corresponding keystroke operation interface is designed for different gaits,so as to realize the wireless control of various kinematic gaits of the snake robot.Finally,the motion control experiment of the snake robot prototype is carried out by using the designed control system.The experiments of parametric gait,tracked gait and partial gait conversion are carried out to verify the feasibility and stability of the control system designed in this thesis.The experimental results show that the control system designed in this thesis can realize the wireless control of various motion gaits of snake robot,and can change the parameters in real time in parametric gait motion,which meets the project requirements.